Abstract
Moving objects colliding with one another, such as falling rubble in collapse phenomena, cause complicated motions. In order to effectively produce animations of such objects in computer graphics, a physically-based simulation method is usable and often used.Our aim is to develop a rigid body dynamics simulation method which is simple to understand and easy to implement.In this paper, we propose a method developed by implementing the penalty method that was realized in Particle-Element-Method by assigning Voigt model to both normal-direction and tangential-direction of a particle-sphere, so as to be suitable for three-dimensional polygonal models. Thus we can solve collision, contact, and frictional force in a uniform manner.
